spin_cancel_node.cpp

// Copyright (c) 2022 Neobotix GmbH
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#include <string>
#include <memory>
 
#include "std_msgs/msg/string.hpp"
 
#include "nav2_behavior_tree/plugins/action/spin_cancel_node.hpp"
 
namespace nav2_behavior_tree
{
 
SpinCancel::SpinCancel(
  const std::string & xml_tag_name,
  const std::string & action_name,
  const BT::NodeConfiguration & conf)
: BtCancelActionNode<nav2_msgs::action::Spin>(xml_tag_name, action_name, conf)
{
}
 
}  // namespace nav2_behavior_tree
 
#include "behaviortree_cpp_v3/bt_factory.h"
BT_REGISTER_NODES(factory)
{
  BT::NodeBuilder builder =
    [](const std::string & name, const BT::NodeConfiguration & config)
    {
      return std::make_unique<nav2_behavior_tree::SpinCancel>(
        name, "spin", config);
    };
 
  factory.registerBuilder<nav2_behavior_tree::SpinCancel>(
    "CancelSpin", builder);
}